The Venture Star is one of a fleet of ten (or twelve, depending on your preferred source) interstellar ships, each capable of making the journey to Pandora in less than a decade and then returning with hundreds of tonnes of cargo. Additionally, the ISV VS was preceded by other ships that were significantly larger (possibly up to four times larger), allowing thousands tonnes of materiel, weaponry and personnel to be delivered to the surface each year with approximately 1000 tonnes of delivery per annum for multiple decades.
Note also that the initial base was exploratory. It wasn't until the discovery of unobtanium that they shifted the focus to mining operations so there wasn't much of a need for mech-suits and weaponry other than defend scientists leaving the smaller base to test the local environment.
The ISV Venture Star is one of the ten vehicles designed to travel between the Earth and Pandora at maximum acceleration and deceleration to quickly reach (and retreat from) near lightspeed.
James Cameron's Avatar: An Activist Survival Guide
and
ISV Venture Star:
Cargo Capacity: 350 metric tons Pandora to Earth
Cargo, outbound:
1. Universal object-manufacturing system (In-situ Stereolighography plant). This can produce large, complex objects from data describing
their three-dimensional form and material composition. Using raw
materials obtained on Pandora, construction and mining equipment far
too large and massive to be shipped from Earth can be produced, along
with any replacement parts that are needed. Smaller items such as
weapons and furniture, are also created, using design data brought
from Earth. Locally-designed items are made as well, or modifications
of existing designs.
2. Micro-miniaturized components like micro- and nanoprocessors and other circuitry elements that cannot be manufactured on Pandora.
3. Data modules. Currently, photochromic glass holographic data-storage cubes are used, each one-centimeter cube containing 100
Petabytes of triply-error-corrected data. Typical imported data
includes the specifications for equipment to be manufactured on
Pandora.
4. Two Valkyrie shuttlecraft for transfer of personnel and cargo between the orbiting ISV and the surface of Pandora. These vessels are
left at Pandora, to replace those from previous missions that have
exceeded their design life as manned vehicles. The replaced craft are
re-purposed to serve as automated gas harvesters, skimming through
Polyphemus’s upper atmosphere to obtain hydrogen and deuterium for
refueling the ISV.
5. Developing avatars in amnio tanks.
6. Drugs and other medications that cannot be produced locally.
Pandorapedia: ISV Venture Star
It would seem likely that while the Venture Star is largely equipped to transport people (and return with ore), other vehicles in the fleet can be configured to carry other types of bulk cargo such as vehicles or supplies. It's explicitly noted that the Venture Star's shuttle can transport AMP suits.
The Valkyrie is a single stage-to-orbit (SSTO) transatmospheric vehicle (TAV) with a massive payload capacity. The Valkyrie is roughly four times the size of the twentieth-century Earth shuttles. The Valkyrie and other shuttles in use on Pandora have been hardened to resist pervasive magnetic fields. Its cargo bay can hold troops, AMP Suits, all necessary ammo and gear, plus larger payloads such as specialized lab equipment that cannot be manufactured on Pandora.
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It's also mentioned that the base itself can manufacture a range of useful vehicles, weapons and ammo, obviating the need to ship it from Earth.
In the decades since arrival on Pandora, the RDA has created a proficient on-moon robotic manufacturing facility that takes care of all its vehicle, weapons, and ammunition needs. All weapons are built to with-stand the rigors of Pandora's electromagnetic fields. The various robo-dozers, earth movers, and Slash-Cutters that have decimated the few remaining patches of Terran rainforest also work well. The powerful CARB Weapon System that proved effective in various insurgencies on Earth has now been unleashed on both the creatures of Pandora and on the Na'vi themselves.
James Cameron's Avatar: An Activist Survival Guide
If you want to, you can even play a part in the early survey missions on Pandora and the discovery of the Na'Vi.